Higher order sliding mode controller for driving steering vehicle wheels: Tracking trajectory problem

A higher order sliding controller scheme for a steering vehicle control is proposed in this paper. Since the system is uncertain, to overcome the constraint on the knowledge of the vehicle model, local models related to some operating points have been used to synthesis a nominal fuzzy type-2 global model. The controller is based on the integral sliding mode concept and it is composed of two parts. The first one leads to achieve finite time stabilization of the sliding manifold and its derivatives, it has two dynamics: a robust feedback and a forcing term. The second part has to reject the system uncertainties and noises. As a result, a higher order sliding mode is established and the time convergence is chosen in advance. Promising results have been obtained using real data acquired by a laboratory vehicle.